基于三线阵CCD的室内导航方法研究  

Research on indoor navigation method based on three linear CCDs

作　　者：王闯 屠晓伟[1] WANG Chuang;TU Xiaowei(School of Mechatronics Engineering and Automation,Shanghai University,Shanghai 200444,China;Department of Information Engineering,Xuchang University,Xuchang,Henan 461000,China)

机构地区：[1]上海大学机电工程与自动化学院,上海200444 [2]许昌学院信息工程学院,河南许昌461000

出　　处：《燕山大学学报》2021年第4期312-320,327,共10页Journal of Yanshan University

基　　金：国家自然科学基金资助项目(51775325,61903241);国家商用飞机制造工程技术研究中心创新基金资助项目(COMAC-SFGS-2017-36741)。

摘　　要：针对目前室内移动导航定位精度低、累积误差大、并且经常需要多个传感器分别估测移动目标位置和姿态的问题,提出了一种新型的位置姿态传感器用于室内导航。该传感器由3个线阵CCD和3个柱面透镜组成,并能够估测其视域范围内布置在天花板上的红外LED锚节点的三维坐标。在依次估测到至少3个锚节点的三维坐标之后,使用Rodrigues矩阵坐标转换算法估测出传感器在室内的位置和姿态。同时,移动目标位置和姿态的估测是在接收端,因此该系统不存在轨迹暴露的问题。本文提出的方法部署成本低,易于室内大范围扩展使用。最后,仿真结果表明该方法能够可靠、精确地进行位置和姿态的估测,为结构化室内环境下的导航提供了一种行之有效的解决方法。A new position and attitude sensor is proposed for indoor navigation in the light of the current problems of indoor mobile navigation with low positioning accuracy,large cumulative errors,and it often requires multiple sensors to estimate the position and attitude of the moving target.The proposed sensor is composed of three linear CCDs and three cylindrical lenses,which can be used to estimate the three-dimensional coordinates of the infrared LED anchor arranged on the ceiling within its field of view.A method is proposed by using Rodrigues matrix coordinate conversion algorithm to estimate the indoor position and attitude of the sensor simultaneously after sequentially estimating the three-dimensional coordinates of at least three LED anchors in the sensor coordinate system.At the same time,the estimation of the position and attitude of the moving target is at the receiving end,therefore the system does not have the problem of trajectory exposure.The proposed method in this paper has low deployment cost and is easy to be expanded in a wide range of indoor applications.Finally,simulation results show that the method can reliably and accurately estimate the position and attitude,and demonstrates the feasibility and high accuracy of the proposed method,which provides an effective solution for the navigation in the structured indoor environment.

关 键 词：室内定位 罗德里格矩阵 坐标转换 姿态 线阵CCD 柱面透镜 

分 类 号：V249.1[航空宇航科学与技术—飞行器设计]